lego-loam's Introduction

LeGO-LOAM

How to use OS0-128 with LeGO-LOAM

Upper file is LeGO-LOAM forked file.

First of all, you have to edit the utility.h in include file. Change topic name of pointcloud2 type message.

// extern const string pointCloudTopic = "/velodyne_points";
extern const string pointCloudTopic = "/os_cloud_node/points";

Modify useCloudRing value.

extern const bool useCloudRing = false; // if true, ang_res_y and ang_bottom are not used

Add parameters of OS1-128.

// Ouster OS0-128
extern const string LIDAR_TYPE = "Ouster OS0-128";
extern const int N_SCAN = 128;
extern const int Horizon_SCAN = 1024; //2048
extern const float ang_res_x = 360.0/float(Horizon_SCAN);
extern const float ang_res_y = 90.0/float(N_SCAN-1); //45
extern const float ang_bottom = 22.5+0.1; //22.5
extern const int groundScanInd = 30;

Lastly, you have to edit ImageProjection.cpp in source file. uncomment the line of 166.

cloudHeader.stamp = ros::Time::now(); // Ouster lidar users may need to uncomment this line

With ROS bag file, Ouster launch, and LeGO-LOAM run.launch file, you can use LeGO-LOAM with your OS1-128 dataset.

Add parameters of HDL-64E for KITTI dataset.

// HDL-64E
extern const int N_SCAN = 64;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 360.0/float(Horizon_SCAN);
extern const float ang_res_y = 26.9/float(N_SCAN-1);
extern const float ang_bottom = 25;
extern const int groundScanInd = 30;

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